Preclinical evaluation of a markerless, real-time, augmented reality guidance system for robot-assisted radical prostatectomy.

Journal: International journal of computer assisted radiology and surgery
PMID: 34076803

Abstract

PURPOSE: Intra-operative augmented reality (AR) during surgery can mitigate incomplete cancer removal by overlaying the anatomical boundaries extracted from medical imaging data onto the camera image. In this paper, we present the first such completely markerless AR guidance system for robot-assisted laparoscopic radical prostatectomy (RALRP) that transforms medical data from transrectal ultrasound (TRUS) to endoscope camera image. Moreover, we reduce the total number of transformations by combining the hand-eye and camera calibrations in a single step.

Authors

  • Megha Kalia
    Electrical and Computer Engineering, University of British Columbia, 2329 West Mall, Vancouver, BC, V6T 1Z4, Canada. mkalia@ece.ubc.ca.
  • Apeksha Avinash
    Department of Electrical and Computer Engineering, University of British Columbia, Vancouver, BC, Canada.
  • Nassir Navab
    Chair for Computer Aided Medical Procedures & Augmented Reality, TUM School of Computation, Information and Technology, Technical University of Munich, Munich, Germany.
  • Septimiu Salcudean
    Electrical and Computer Engineering, University of British Columbia, 2329 West Mall, Vancouver, BC, V6T 1Z4, Canada.

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